fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
autowarefoundation · Mar 8, 2022 · 5c70757 · 5c70757
1 parent cb1b3cf
commit 5c70757
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp
@@ -217,7 +217,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
           const double iou = utils::get2dIoU(
             {measurement_object.kinematics.pose_with_covariance.pose, measurement_object.shape},
             {tracked_object.kinematics.pose_with_covariance.pose, tracked_object.shape});
-          // if (iou < min_iou) passed_gate = false;
+          if (iou < min_iou) passed_gate = false;
         }
 
         // all gate is passed
@@ -226,7 +226,6 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
           if (score < score_threshold_) score = 0.0;
         }
       }
-      std::cerr << __LINE__ << ":" << score << std::endl;
       score_matrix(tracker_idx, measurement_idx) = score;
     }
   }